CN103424952A - Focusing region self-adaptive automatic focusing method and device - Google Patents
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Abstract
The invention discloses a focusing region self-adaptive automatic focusing method and device. The focusing region self-adaptive automatic focusing method comprises the steps of A, setting an initial focusing window in an interested region; B, judging whether a focusing target exists in the current focusing window or not, if so, performing the step D, and if not, performing the step C; C, increasing the dimension of the current focusing window to have at least one step length so as to obtain a novel focus adjustment window and then performing the step B; D, starting automatic focusing treatment. By means of the focusing region self-adaptive automatic focusing method and device, the interference of a background to a focused target can be eliminated to some extent, and the accuracy of automatic focusing is improved.
Description
Technical field
The present invention relates to technical field of imaging, in particular to the adaptive auto focusing method of a kind of focal zone and device.
Background technology
At present, the image-forming module such as video camera, digital camera and mobile communication terminal be widely used (for example adopting CCD or cmos sensor), provide self-focusing function mostly.Its auto focusing method extensively adopted at present is " climbing method ", and its principle is as follows:
When every collection one two field picture of imaging module, to the image gathered, use the focusing evaluation function of the energy evaluation map image sharpness of design in advance to obtain the focusing evaluation value of this two field picture, the continuous acquisition multiple image also calculates its corresponding focusing evaluation value, can fit to a seasonal effect in time series focusing evaluation value curve, search for the maximal value of this curve, and drive amasthenic lens to move to the corresponding position of focusing evaluation value maximal value.
In actual applications, based on image detail composition in Same Scene, more mainly with reaching the high fdrequency component higher fact of image definition more at most, the focusing evaluation function adopts the structures such as high fdrequency component, marginal information more.
Summary of the invention
The present inventor finds, the auto focusing method of which kind of autofocus evaluation function based on prior art no matter, and it all needs to solve a problem: focal zone chooses.
An effective focal zone should comprise the focusing target as much as possible, and reduces the interference that focuses on background as far as possible.In practical application, too small if focal zone is chosen, in zone, do not focus on target; If focal zone is chosen excessive, on the one hand background interference the focusing of target, affected on the other hand self-focusing speed.And, due to focal zone, choose too smallly, may produce because lacking target and cause self-focusing failure; Focal zone is chosen excessive, owing to having comprised unnecessary background, probably focuses on background, thus the focusing result of having disturbed the user to wish.Therefore, how providing a kind of can carry out self-adaptation to focal zone and just become to realize self-focusing method the technical matters of needing at present solution badly.
Given this, the object of the present invention is to provide the adaptive auto focusing method of a kind of focal zone and device.
In order to solve purpose of the present invention, the present invention realizes by the following technical solutions:
The adaptive auto focusing method of a kind of focal zone comprises:
A, at area-of-interest, the initial focus window is set;
B, judge in current focus window zone whether comprise the focusing target, if go to step D; Otherwise, go to step C;
C, the size of current focus window is increased at least one adjust step-length, to obtain new adjustment focus window, go to step B;
D, startup automatic focus are processed.
In a kind of preferred implementation, in described step B, repeatedly calculate the image blur value in the focus window zone of the image obtained under different condenser lenses position, when the number of times that continues to be not more than image blur threshold value Bt when the image blur value surpasses count value judgment threshold Ct, judge in the focus window zone and do not focus on target; Otherwise, judge in the focus window zone focusing target arranged.
In a kind of more preferably embodiment, described step B comprises:
B1, the initial value that the image blur value continues to be not more than the count value Cnt of image blur threshold value Bt is set is 0;
B2, gather a two field picture;
The image blur value Bw in B3, calculating focus window zone;
B4, judge whether image blur value Bw is not more than image blur threshold value Bt, if, go to step B5, otherwise, go to step B9;
B5, count value Cnt add 1;
B6, judge whether count value Cnt is greater than count value judgment threshold Ct, if, go to step B8, otherwise, go to step B7;
B7, mobile focusing lens position, go to step B2;
In B8, judgement focus window zone, nothing focuses on target;
B9, judgement have the focusing target in the focus window zone.
In a kind of more preferably embodiment, the span of described image blur threshold value Bt is 0.15 ~ 0.25, and the span of count value judgment threshold Ct is 4 ~ 6.
In a kind of preferred implementation, in described step D, adopt climbing method, global search method or the focusing curve estimation technique to carry out the automatic focus processing.
The adaptive automatic focusing system of a kind of focal zone comprises:
Focus window self-adaptation adjusting module, for arranging the initial focus window at area-of-interest; And for the focus window self-adaptation adjustment order according to obtaining, the size of current focus window is increased at least one adjustment step-length to obtain new adjustment focus window;
Judge module, for judging in current focus window zone whether comprise the focusing target, if, send focus commands to execution module, otherwise, focus window self-adaptation adjustment order sent to focus window self-adaptation adjusting module;
Execution module, process for starting automatic focus.
In a kind of preferred implementation, described judge module repeatedly calculates the image blur value in the focus window zone of the image obtained under different condenser lenses position, when the number of times that continues to be not more than image blur threshold value Bt when the image blur value surpasses count value judgment threshold Ct, judge in the focus window zone and do not focus on target; Otherwise, judge in the focus window zone focusing target arranged.
In a kind of more preferably embodiment, described judge module judges that whether comprising the method that focuses on target in current focus window zone comprises:
1) initial value that the image blur value continues to be not more than the count value Cnt of image blur threshold value Bt being set is 0;
2) gather a two field picture;
3) calculate the image blur value Bw in focus window zone;
4) judge whether image blur value Bw is not more than image blur threshold value Bt, if go to step 5), otherwise, go to step 9);
5) count value Cnt adds 1;
6) judge whether count value Cnt is greater than count value judgment threshold Ct, if go to step 8), otherwise, go to step 7);
7) the mobile focusing lens position, go to step 2);
8) judge in the focus window zone without focusing on target;
9) judge in the focus window zone focusing target is arranged.
A kind of more preferred embodiment in, the span of described image blur threshold value Bt is 0.15 ~ 0.25, the span of count value judgment threshold Ct is 4 ~ 6.
In a kind of preferred implementation, described execution module adopts climbing method, global search method or the focusing curve estimation technique to carry out the automatic focus processing.
Technical scheme by the invention described above can be found out, in the present invention, be focus window by first choosing a less focal zone, judge in focus window and whether comprise the focusing target, in this way, start auto-focusing algorithm, if not, choosing a relatively large focal zone is new focus window, but in chosen area, is not more than under the size of gathered image, thereby find a suitable focus window, then restart auto-focusing algorithm.Can get rid of to a certain extent background to focusing on the interference of target by the adaptive auto focusing method of focal zone provided by the invention, promote self-focusing accuracy.In addition, in the present invention, the adaptive change along with the variation that focuses on target sizes in scene of the large I of focal zone, than the technical scheme to full figure scene partitioning zone, distribution weights in prior art, adopt the adaptive auto focusing method of focal zone provided by the invention, its calculated amount is less, thereby can promote focusing speed to a certain extent.Wherein, focusing on accuracy and focusing speed is to weigh the important indicator of auto focusing method.
The accompanying drawing explanation
Fig. 1 is the adaptive auto focusing method schematic flow sheet of focal zone that one embodiment of the invention provides;
Fig. 2 is the adaptive automatic focusing system structural representation of focal zone that one embodiment of the invention provides;
Fig. 3 is the schematic diagram that when in one embodiment of the invention, user's area-of-interest is image central authorities, focus window is chosen;
Fig. 4 is the schematic diagram that when in another embodiment of the present invention, user's area-of-interest is image central authorities, focus window is chosen;
Fig. 5 be in one embodiment of the invention user's area-of-interest be in image when below a schematic diagram arranging of focus window;
Fig. 6 be in one embodiment of the invention user's area-of-interest be in image when below a schematic diagram choosing of initial focus window;
Fig. 7 be in another embodiment of the present invention user's area-of-interest be in image when below a schematic diagram choosing of focus window;
Fig. 8 is for judging in focus window whether comprise the method flow schematic diagram that focuses on target in the embodiment of the present invention.
The realization of the object of the invention, functional characteristics and excellent effect, be described further below in conjunction with specific embodiment and accompanying drawing.
Embodiment
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in further detail, can be implemented so that those skilled in the art can better understand the present invention also, but illustrated embodiment is not as a limitation of the invention.
Core thinking of the present invention is: in the automatic focus process, first choosing a less focal zone is focus window, judge in focus window and whether comprise the focusing target, in this way, start auto-focusing algorithm, otherwise, choosing a relatively large focal zone is new focus window, but be not more than in chosen area under the size of gathered image, find a suitable focus window, then restart auto-focusing algorithm.
As shown in Figure 1, the adaptive auto focusing method of a kind of focal zone that the embodiment of the present invention provides comprises following concrete steps:
Step 1, in corresponding scene, a zonule to be set at camera lens be the initial focus window;
Wherein, described camera lens can, for the camera lens of video camera, digital camera or mobile communication terminal camera, not done and enumerate it here.
In specific implementation process, the initial focus zone is chosen and is selected the interested zone of user.And in actual applications, user's area-of-interest is different and variant with application, such as in video surveillance applications, the picture centre zone is user's region of interest often; In video conference, user's area-of-interest is usually located at below in image, because the personnel of conference participation are usually located at the middle lower position of image.Thereby, when reality is implemented, choosing of initial focus zone need be implemented flexibly with the difference of concrete application.This paper does not do and enumerates this.
Step 2, judge in the focus window zone whether comprise the focusing target, if proceed to step 6, otherwise proceed to step 3;
In focus window, focus on target and generally comprise obvious marginal information or detailed information feature.Based on this fact, in this step, the decision method whether judgement exists in focus window zone inner focusing target, its key be one of the design marginal information that can weigh the image appointed area or detailed information the number image blur tolerance, and judge in the focus window zone whether comprise the focusing target according to this image blur tolerance.
In an embodiment of the present invention, its image blur metric scope can be between 0 to 1, is worth littlely, and token image is fuzzyyer, on the contrary, is worth larger token image more clear.In image, for marginal information or detailed information zone seldom, the image blur value is set as being not more than image blur threshold value Bt.In order to reduce False Rate, in the embodiment of the present invention, adopt and repeatedly calculate the image blur value in the focus window zone under different condenser lenses position, when the number of times that continues to be not more than image blur threshold value Bt when the image blur value surpasses count value judgment threshold Ct, judge in the focus window zone and do not focus on target; Otherwise, judge in the focus window zone focusing target arranged.
For example, under a kind of preferred implementation, described step 2 comprises following concrete steps:
21, the initial value that the image blur value continues to be not more than the count value Cnt of image blur threshold value Bt being set is 0;
22, gather a two field picture;
23, calculate the image blur value Bw in focus window zone;
24, judge whether image blur value Bw is not more than image blur threshold value Bt, if, go to step 25, otherwise, go to step 29;
25, count value Cnt adds 1;
26, judge whether count value Cnt is greater than count value judgment threshold Ct, if, go to step 28, otherwise, go to step 27;
27, the mobile focusing lens position, go to step 22;
28, judge in the focus window zone without focusing on target;
29, judge in the focus window zone focusing target is arranged.
In a kind of more preferably embodiment, the span of described image blur threshold value Bt is 0.15 ~ 0.25, and the span of count value judgment threshold Ct is 4 ~ 6.Certainly; described image blur threshold value Bt and count value judgment threshold Ct can also the selection of User carry out other settings on basis of the present invention; described herein is only the preferred value of described image blur threshold value Bt and count value judgment threshold Ct, not in order to limit the scope of the invention.
Step 3, to choose the zone larger than current focus window in scene be new focus window;
When current focus window zone does not comprise effective focusing target, need to increase the focus window size, the size of current focus window is increased at least one and adjust step-length, to obtain new adjustment focus window.For example in embodiments of the present invention, the size of current focus window is increased to one and adjust step-length, when obtaining new adjustment focus window, the size of the single adjustment step-length of its increase arranges needs following two aspects of balance:
One, single adjustment step-length arranges too smallly, needs the repeatedly handoff procedure from less focus window zone to larger focus window zone, thereby has increased the self-focusing time;
Two, single adjustment step-length arranges excessively, can introduce irrelevant background information, thereby can disturb the automatic focus result.
Therefore, in specific implementation process, the setting of adjusting step-length should consider at above-mentioned 2 and set.
Step 5, full figure zone is set for focus window;
Step 6, startup automatic focus.
In a kind of preferred implementation, in this step, can adopt climbing method, global search method or the focusing curve estimation technique to carry out the automatic focus processing, wherein:
Global search method basic ideas are: adopt to fix or change step-length to drive condenser lens to travel through each lens position, calculate focusing evaluation value corresponding to each position, choosing location point corresponding to maximum focusing evaluation value is final focal position.
And the basic ideas of " the focusing curve estimation technique " are: drive condenser lens to some positions, gather the focusing evaluation value of each position, utilize these sampled datas to simulate focusing curve, the maximal value of calculated curve then, location point corresponding to maximal value is final focal position.
Above-mentioned climbing method, global search method or the focusing curve estimation technique are the known prior art of those skilled in the art, and this paper does not do too much and repeats this.
Correspondingly, as shown in Figure 2, the embodiment of the present invention provides a kind of focal zone adaptive automatic focusing system, comprising:
Focus window self-adaptation adjusting module 100, for arranging the initial focus window at area-of-interest; And for the focus window self-adaptation adjustment order according to obtaining, the size of current focus window is increased at least one adjustment step-length to obtain new adjustment focus window;
In a kind of preferred implementation, described judge module calculates the image blur value in the focus window zone of the image obtained under different condenser lenses position more than 200 time, when the number of times that continues to be not more than image blur threshold value Bt when the image blur value surpasses count value judgment threshold Ct, judge in the focus window zone and do not focus on target; Otherwise, judge in the focus window zone focusing target arranged.
In a kind of more preferably embodiment, described judge module 200 judges that whether comprising the method that focuses on target in current focus window zone comprises:
1) initial value that the image blur value continues to be not more than the count value Cnt of image blur threshold value Bt being set is 0;
2) gather a two field picture;
3) calculate the image blur value Bw in focus window zone;
4) judge whether image blur value Bw is not more than image blur threshold value Bt, if go to step 5), otherwise, go to step 9);
5) count value Cnt adds 1;
6) judge whether count value Cnt is greater than count value judgment threshold Ct, if go to step 8), otherwise, go to step 7);
7) the mobile focusing lens position, go to step 2);
8) judge in the focus window zone without focusing on target;
9) judge in the focus window zone focusing target is arranged.
Wherein, a kind of more preferred embodiment in, the span of described image blur threshold value Bt is 0.15 ~ 0.25, the span of count value judgment threshold Ct is 4 ~ 6.Certainly; described image blur threshold value Bt and count value judgment threshold Ct can also the selection of User carry out other settings on basis of the present invention; described herein is only the preferred value of described image blur threshold value Bt and count value judgment threshold Ct, not in order to limit the scope of the invention.
In a kind of preferred implementation, described execution module 300 adopts climbing method, global search method or the focusing curve estimation technique to carry out the automatic focus processing.Described climbing method, global search method or the focusing curve estimation technique are the known prior art of those skilled in the art, and this paper does not do too much and repeats this.
Fig. 3, Fig. 4 are two different embodiment that choose about focus window in the present invention.For example, in the application of field of video monitoring, focus on the target middle section in scene usually, for this reason, Fig. 3 and Fig. 4 example the method to set up of 3 kinds of size area: minimum focus window W1 is positioned at the scene center position, the zone of full figure 1/4 length, 1/4 width; Inferior large focus window W2 is positioned at the scene center position, the zone of full figure 1/2 length, 1/2 width; Maximum focus window W3 is the full figure zone.
In application under Fig. 3 example, target is positioned at the W1 focus window.The W1 focus window is set to the initial focus window, and through judging, comprise the focusing target in focus window, W1 is final focus window, starts automatic focus, can realize focusing effect.Than using W2 or W3 zone, be focus window, employing W1 is focus window, and its calculated amount is less.
In application under Fig. 4 example, target is positioned at the W2 focus window.W1 is set to the initial focus window, through judging, in the W1 focus window, there is no target, choosing the W2 zone larger than W1 focus window size is new focus window, through judging, finds that W2 comprises target, and W2 is final focus window, start automatic focus, can realize focusing effect.
The focus window region division of Fig. 5 example is applicable to some application in video conference.For ease of describing, this paper supposes that the upper left corner point coordinate of image is (0,0), and lower right corner point coordinate is (W, H).In this embodiment, 4 windows are provided: the upper left corner point coordinate (W/3,3H/8) of W1 focus window, the coordinate (2W/3,3H/4) of bottom right angle point; The upper left corner point coordinate (W/12, H/4) of W2 focus window, the coordinate (3W/4,7H/8) of bottom right angle point; The upper left corner point coordinate (W/4, H/4) of W3 focus window, the coordinate (11W/12,7H/8) of bottom right angle point; The W4 focus window is the full figure zone.
Fig. 6 example a kind of W1 focus window can meet the applicable cases of focusing demand.With reference to this figure, when the user selects to adopt the W1 focus window to carry out focusing operation as the initial focus window, judge that this current W1 focus window has comprised the focusing target, now start automatic focus, realize focusing effect.
As shown in Figure 7, when selecting to adopt the W1 focus window, the user carries out focusing operation as the initial focus window, and judge when this current W1 focus window has not comprised the focusing target, turn to larger W2 focus window zone, through judgement, learn in the W2 focus window while having comprised the focusing target, start automatic focus.
As shown in Figure 8, whether it a kind ofly comprises the decision method schematic flow sheet that focuses on target, it mainly comprises the steps: for judging in focus window for what the invention process exemplified
201) to continue to be not more than the count value Cnt assignment of image blur threshold value Bt be 0 to the image blur value;
202) image-forming module gathers a two field picture;
203) calculate the image blur value Bw of focus window;
204) judge whether image blur value Bw is less than image blur threshold value Bt, if proceed to step 205, otherwise proceed to step 209;
205) count value Cnt adds one;
206) judge that whether count value Cnt is greater than counting judgment threshold Ct, in this way, proceeds to step 208, otherwise proceeds to step 207;
207) the mobile focusing lens position, proceed to step 202;
208) judge driftlessness in focus window;
209) judge in focus window target is arranged.
In application, the value of image blur threshold value Bt is generally between 0.15 ~ 0.25, and the value of counting judgment threshold Ct is between 4 ~ 6.
In addition, a kind of example construction method of the image blur described in the embodiment of the present invention is as follows, and its building process has been used for reference " The Blur Effect:Perception and Estimation with a New No-Reference Perceptual Blur Metric " described method of document of Frederique Crete:
F means to be of a size of the luminance component of the image of m * n, builds the strong low-pass filter h of a vertical edge
v, by h
vAct on F upper, obtain a fuzzy rear luminance component B
ver.
In application, hv can be designed to as follows:
B
verComputing formula is as follows, and wherein * means convolution operation:
B
ver=h
v*F；
Calculate respectively again F, B
verThe absolute difference score value D_F of corresponding vertical edge
verAnd D_B
ver, its computing formula is as follows, and wherein Abs means to ask absolute value operation:
D_F
ver(i,j)=Abs(F(i,j)-F(i-1,j))i=1,...,m-1j=1,...,n-1；
D_B
ver(i,j)=Abs(B
ver(i,j)-B
ver(i-1,j))i=1,...,m-1j=1,...,n-1；
Then obtain a value V
ver, its computing formula is as follows, and wherein Max is the operation of asking the two maximum:
V
ver=Max(0,D_F
ver(i,j)-D_B
ver(i,j))i=1,...,m-1j=1,...,n-1；
Next step calculates respectively D_F
verAnd V
verCorresponding cumulative sum s_F
verAnd s_V
ver, its computing formula is as follows:
Finally build image blur tolerance Blur_F, span 0 to 1 is defined as follows:
The foregoing is only the preferred embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes instructions of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in scope of patent protection of the present invention.
Claims (10)
1. the adaptive auto focusing method of focal zone, is characterized in that, comprising:
A, at area-of-interest, the initial focus window is set;
B, judge in current focus window zone whether comprise the focusing target, if go to step D; Otherwise, go to step C;
C, the size of current focus window is increased at least one adjust step-length, to obtain new adjustment focus window, go to step B;
D, startup automatic focus are processed.
2. the adaptive auto focusing method of focal zone as claimed in claim 1, it is characterized in that, in described step B, repeatedly calculate the image blur value in the focus window zone of the image obtained under different condenser lenses position, when the number of times that continues to be not more than image blur threshold value Bt when the image blur value surpasses count value judgment threshold Ct, judge in the focus window zone and do not focus on target; Otherwise, judge in the focus window zone focusing target arranged.
3. the adaptive auto focusing method of focal zone as claimed in claim 2, is characterized in that, described step B comprises:
B1, the initial value that the image blur value continues to be not more than the count value Cnt of image blur threshold value Bt is set is 0;
B2, gather a two field picture;
The image blur value Bw in B3, calculating focus window zone;
B4, judge whether image blur value Bw is not more than image blur threshold value Bt, if, go to step B5, otherwise, go to step B9;
B5, count value Cnt add 1;
B6, judge whether count value Cnt is greater than count value judgment threshold Ct, if, go to step B8, otherwise, go to step B7;
B7, mobile focusing lens position, go to step B2;
In B8, judgement focus window zone, nothing focuses on target;
B9, judgement have the focusing target in the focus window zone.
4. the adaptive auto focusing method of focal zone as claimed in claim 2 or claim 3, is characterized in that, the span of described image blur threshold value Bt is 0.15 ~ 0.25, and the span of count value judgment threshold Ct is 4 ~ 6.
5. the adaptive auto focusing method of focal zone as claimed in claim 1, is characterized in that, in described step D, adopts climbing method, global search method or the focusing curve estimation technique to carry out the automatic focus processing.
6. the adaptive automatic focusing system of focal zone, is characterized in that, comprising:
Focus window self-adaptation adjusting module, for arranging the initial focus window at area-of-interest; And for the focus window self-adaptation adjustment order according to obtaining, the size of current focus window is increased at least one adjustment step-length to obtain new adjustment focus window;
Judge module, for judging in current focus window zone whether comprise the focusing target, if, send focus commands to execution module, otherwise, focus window self-adaptation adjustment order sent to focus window self-adaptation adjusting module;
Execution module, process for starting automatic focus.
7. the adaptive automatic focusing system of focal zone as claimed in claim 6, it is characterized in that, described judge module repeatedly calculates the image blur value in the focus window zone of the image obtained under different condenser lenses position, when the number of times that continues to be not more than image blur threshold value Bt when the image blur value surpasses count value judgment threshold Ct, judge in the focus window zone and do not focus on target; Otherwise, judge in the focus window zone focusing target arranged.
8. the adaptive automatic focusing system of focal zone as claimed in claim 7, is characterized in that, described judge module judges that whether comprising the method that focuses on target in current focus window zone comprises:
1) initial value that the image blur value continues to be not more than the count value Cnt of image blur threshold value Bt being set is 0;
2) gather a two field picture;
3) calculate the image blur value Bw in focus window zone;
4) judge whether image blur value Bw is not more than image blur threshold value Bt, if go to step 5), otherwise, go to step 9);
5) count value Cnt adds 1;
6) judge whether count value Cnt is greater than count value judgment threshold Ct, if go to step 8), otherwise, go to step 7);
7) the mobile focusing lens position, go to step 2);
8) judge in the focus window zone without focusing on target;
9) judge in the focus window zone focusing target is arranged.
9. the adaptive automatic focusing system of focal zone as claimed in claim 7 or 8, is characterized in that, the span of described image blur threshold value Bt is 0.15 ~ 0.25, and the span of count value judgment threshold Ct is 4 ~ 6.
10. the adaptive automatic focusing system of focal zone as claimed in claim 6, is characterized in that, described execution module adopts climbing method, global search method or the focusing curve estimation technique to carry out the automatic focus processing.
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| CN106412406A (en) * | 2016-11-24 | 2017-02-15 | 冯雪平 | Mobile phone lens |
| WO2018019122A1 (en) * | 2016-07-29 | 2018-02-01 | 努比亚技术有限公司 | Focusing method, terminal, and computer storage medium |
| CN108932754A (en) * | 2018-06-20 | 2018-12-04 | 北京京东金融科技控股有限公司 | Ticket checking method, device, medium and electronic equipment based on artificial ticket checking interface image |
| CN109085166A (en) * | 2018-06-14 | 2018-12-25 | 天津大学 | Plastic bubble detection method based on self-regulation window |
| CN113805327A (en) * | 2021-07-26 | 2021-12-17 | 南京理工大学智能计算成像研究院有限公司 | Automatic focusing method based on variable step distance traversal |
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